Apparatus and method for preventing vehicle collision

ABSTRACT

Disclosed are an apparatus and method for preventing a vehicle collision. The apparatus includes a communication unit wirelessly communicating with a surrounding vehicle, a sensing unit detecting the surrounding vehicle and a lane, a traveling control module configured to control steering or braking of an ego vehicle, and a controller configured to determine whether the ego vehicle can perform steering avoidance driving toward a neighboring lane, through the sensing unit, based on information on a driving mode of a vehicle ahead received through the communication unit, if it is checked through the communication unit that a vehicle ahead of the vehicle ahead is in a stop state and to control the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake through the traveling control module, based on a result of the determination.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/861,817 filed on Apr. 29, 2020, which claims the benefit under 35 USC§ 119(a) of Korean Patent Application No. 10-2019-0072206, filed on Jun.18, 2019, in the Korean Intellectual Property Office, the entiredisclosure of which is incorporated herein by reference for allpurposes.

BACKGROUND Field

Exemplary embodiments of the present disclosure relate to an apparatusand method for preventing a vehicle collision, and more particularly, toan apparatus and method for preventing a vehicle collision, whichprevent a collision between an ego vehicle and a vehicle ahead of avehicle ahead in a stop state if the vehicle ahead changes lanes inorder to avoid a collision in the state in which the vehicle ahead ofthe vehicle ahead has stopped.

Discussion of the Background

A congestion phenomenon is increasing in each section on a road due toan increase in the number of vehicles. If a driver does not maintain agiven distance from a vehicle ahead, there is a danger of a fenderbender. Accordingly, a driver can prevent an accident by properlymanipulating a brake and an accelerator according to circumstances whilemaintaining a given distance from a vehicle ahead. However, if a driverbecomes more tired due to the repetition of such an operation for a longtime, the probability that an accident may occur is increased becausethe driver's concentration is decreased.

There has recently been known a technology for detecting a vehicle aheadusing a contactless sensor, such as a radar or an ultrasonic sensor, orimage processing. This technology is effective in safe driving becauseit is used for vehicle distance control of an adaptive cruise control(AGC) driving vehicle, usually, a warning to the driver of a vehicle.Such a technology includes a system for controlling a distance betweenan ego vehicle and a vehicle ahead based on the detection of the vehicleahead. In general, in this technology, after a properacceleration/deceleration state of an ego vehicle is computed based on adistance from a vehicle ahead and relative speed detected by aninter-vehicle distance detection sensor mounted on the vehicle, anaccurate target is recognized by controlling a throttle valve, a brakeand a transmission, and a proper inter-vehicle distance is maintained.

The Background of the Disclosure is disclosed in Korean PatentApplication Laid-Open No. 10-2015-0060301 (Jun. 3, 2015) entitled“Warning Apparatus and Method for Safe-Driving Assistance Service Basedon V2X.”

SUMMARY

A conventional method of preventing a vehicle collision is limited tothe point that a collision between an ego vehicle and a vehicle ahead ispresent. Accordingly, it is insufficient to prevent a collision with avehicle ahead of a vehicle ahead if the vehicle ahead suddenly changeslanes in order to avoid a collision with the vehicle ahead of thevehicle ahead in the state in which the vehicle ahead of the vehicleahead has stopped.

Various embodiments are directed to the provision of an apparatus andmethod for preventing a vehicle collision, which prevent a collisionbetween an ego vehicle and a vehicle ahead of a vehicle ahead in a stopstate if the vehicle ahead changes lanes in order to avoid a collisionin the state in which the vehicle ahead of the vehicle ahead hasstopped.

In an embodiment, an apparatus for preventing a vehicle collisionincludes a communication unit configured to wirelessly communicate witha surrounding vehicle, a sensing unit configured to detect thesurrounding vehicle and a lane, a traveling control module configured tocontrol steering or braking of an ego vehicle, and a controllerconfigured to determine whether the ego vehicle is capable of steeringavoidance driving toward a neighboring lane, through the sensing unit,based on information on a driving mode of a vehicle ahead receivedthrough the communication unit if it is checked through thecommunication unit that a vehicle ahead of the vehicle ahead is in astop state and to control the ego vehicle to perform the steeringavoidance driving toward the neighboring lane or to urgently brake,through the traveling control module, based on a result of thedetermination.

In an embodiment, the controller may control the ego vehicle to performthe steering avoidance driving toward the neighboring lane or tourgently brake, based on whether the vehicle ahead performs steeringavoidance driving in an autonomous driving mode.

In an embodiment, the controller may control the ego vehicle to performthe steering avoidance driving toward the neighboring lane whilecorrecting a steering avoidance trajectory of the ego vehicle in realtime through a steering avoidance trajectory of the vehicle ahead, if itis determined through the sensing unit that the ego vehicle is capableof the steering avoidance driving toward the neighboring lane in a statein which the vehicle ahead performs the steering avoidance driving inthe autonomous driving mode, and control the ego vehicle to urgentlybrake if it is determined through the sensing unit that the ego vehicleis incapable of the steering avoidance driving toward the neighboringlane in a state in which the vehicle ahead has urgently braked in theautonomous driving mode.

In an embodiment, the controller may control the ego vehicle to performthe steering avoidance driving toward the neighboring lane, if it isdetermined through the sensing unit that the ego vehicle is capable ofthe steering avoidance driving toward the neighboring lane in a state inwhich the vehicle ahead has urgently braked in the autonomous drivingmode, and control the ego vehicle to urgently brake if it is determinedthrough the sensing unit that the ego vehicle is incapable of thesteering avoidance driving toward the neighboring lane in a state inwhich the vehicle ahead has urgently braked in the autonomous drivingmode.

In an embodiment, the controller may control the ego vehicle to performthe steering avoidance driving toward the neighboring lane or tourgently brake, if forced control over the vehicle ahead in a manualdriving mode is permitted.

In an embodiment, the controller may transmit a forced steering controlcommand to the vehicle ahead and control the ego vehicle to perform thesteering avoidance driving toward the neighboring lane, based on acollision possibility between the vehicle ahead and the vehicle ahead ofthe vehicle ahead, if it is determined through the sensing unit that theego vehicle is capable of the steering avoidance driving toward theneighboring lane in a state in which the forced control over the vehicleahead in the manual driving mode is possible, and control the egovehicle to urgently brake if it is determined through the sensing unitthat the vehicle ahead is incapable of steering avoidance driving towardthe neighboring lane in a state in which the forced control over thevehicle ahead in the manual driving mode is possible.

In an embodiment, the controller may transmit the forced steeringcontrol command to the vehicle ahead if the vehicle ahead does notperform the steering avoidance driving up to a collision limit timebetween the vehicle ahead and the vehicle ahead of the vehicle ahead.

In an embodiment, the controller may transmit a collision alarm commandto the vehicle ahead and control the ego vehicle to perform the steeringavoidance driving toward the neighboring lane, if it is determinedthrough the sensing unit that the ego vehicle is capable of the steeringavoidance driving toward the neighboring lane in a state in which theforced control over the vehicle ahead in the manual driving mode isimpossible, and control the ego vehicle to urgently brake if it isdetermined through the sensing unit that the vehicle ahead is incapableof the steering avoidance driving toward the neighboring lane in a statein which the forced control over the vehicle ahead in the manual drivingmode is impossible.

In an embodiment, a method of preventing a vehicle collision includeschecking, by a controller, whether a vehicle ahead of a vehicle ahead isin a stop state through a communication unit, receiving, by thecontroller, driving information of the vehicle ahead through thecommunication unit if it is checked through the communication unit thatthe vehicle ahead of the vehicle ahead is in the stop state, anddetermining, by the controller, whether an ego vehicle is capable ofsteering avoidance driving toward a neighboring lane, through a sensingunit based on information on a driving mode of the vehicle aheadreceived through the communication unit, if it is checked through thecommunication unit that the vehicle ahead of the vehicle ahead is in thestop state, and controlling the ego vehicle to perform the steeringavoidance driving toward the neighboring lane or to urgently brake, bycontrolling a traveling control module based on a result of thedetermination.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may control the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, based on whether the vehicle ahead performs steering avoidancedriving in an autonomous driving mode.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may control the ego vehicle to perform thesteering avoidance driving toward the neighboring lane while correctinga steering avoidance trajectory of the ego vehicle in real time througha steering avoidance trajectory of the vehicle ahead, if it isdetermined through the sensing unit that the ego vehicle is capable ofthe steering avoidance driving toward the neighboring lane in a state inwhich the vehicle ahead performs the steering avoidance driving in theautonomous driving mode, and control the ego vehicle to urgently brakeif it is determined through the sensing unit that the ego vehicle isincapable of the steering avoidance driving toward the neighboring lanein a state in which the vehicle ahead has urgently braked in theautonomous driving mode.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may control the ego vehicle to perform thesteering avoidance driving toward the neighboring lane, if it isdetermined through the sensing unit that the ego vehicle is capable ofthe steering avoidance driving toward the neighboring lane in a state inwhich the vehicle ahead has urgently braked in the autonomous drivingmode and control the ego vehicle to urgently brake if it is determinedthrough the sensing unit that the ego vehicle is incapable of thesteering avoidance driving toward the neighboring lane in a state inwhich the vehicle ahead has urgently braked in the autonomous drivingmode.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may control the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, if forced control over the vehicle ahead in a manual driving modeis permitted.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may transmit a forced steering control command tothe vehicle ahead and control the ego vehicle to perform the steeringavoidance driving toward the neighboring lane, based on a collisionpossibility between the vehicle ahead and the vehicle ahead of thevehicle ahead, if it is determined through the sensing unit that the egovehicle is capable of the steering avoidance driving toward theneighboring lane in a state in which the forced control over the vehicleahead in the manual driving mode is possible, and control the egovehicle to urgently brake if it is determined through the sensing unitthat the vehicle ahead is incapable of steering avoidance driving towardthe neighboring lane in a state in which the forced control over thevehicle ahead is possible in the manual driving mode.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may transmit the forced steering control commandto the vehicle ahead if the vehicle ahead does not perform the steeringavoidance driving up to a collision limit time between the vehicle aheadand the vehicle ahead of the vehicle ahead.

In an embodiment, in the controlling of the ego vehicle to perform thesteering avoidance driving toward the neighboring lane or to urgentlybrake, the controller may transmit a collision alarm command to thevehicle ahead and control the ego vehicle to performs the steeringavoidance driving toward the neighboring lane, if it is determinedthrough the sensing unit that the ego vehicle is capable of the steeringavoidance driving toward the neighboring lane in a state in which theforced control over the vehicle ahead in the manual driving mode isimpossible, and control the ego vehicle to urgently brake if it isdetermined through the sensing unit that the vehicle ahead is incapableof the steering avoidance driving toward the neighboring lane in a statein which the forced control over the vehicle ahead in the manual drivingmode is impossible.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of an apparatus for preventing a vehiclecollision according to an embodiment of the present disclosure.

FIG. 2 is a diagram conceptually illustrating a V2X communicationconfiguration according to an embodiment of the present disclosure.

FIG. 3 is a diagram illustrating an example of changes in lanes in acontrol zone according to an embodiment of the present disclosure.

FIG. 4A and FIG. 4B are flowcharts of a method of preventing a vehiclecollision according to an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

As is traditional in the corresponding field, some exemplary embodimentsmay be illustrated in the drawings in terms of functional blocks, units,and/or modules. Those of ordinary skill in the art will appreciate thatthese block, units, and/or modules are physically implemented byelectronic (or optical) circuits such as logic circuits, discretecomponents, processors, hard-wired circuits, memory elements, wiringconnections, and the like. When the blocks, units, and/or modules areimplemented by processors or similar hardware, they may be programmedand controlled using software (e.g., code) to perform various functionsdiscussed herein. Alternatively, each block, unit, and/or module may beimplemented by dedicated hardware or as a combination of dedicatedhardware to perform some functions and a processor (e.g., one or moreprogrammed processors and associated circuitry) to perform otherfunctions. Each block, unit, and/or module of some exemplary embodimentsmay be physically separated into two or more interacting and discreteblocks, units, and/or modules without departing from the scope of theinventive concept. Further, blocks, units, and/or module of someexemplary embodiments may be physically combined into more complexblocks, units, and/or modules without departing from the scope of theinventive concept.

Hereinafter, an apparatus and method for preventing a vehicle collisionwill be described below with reference to the accompanying drawingsthrough various exemplary embodiments. The thickness of lines or thesize of elements shown in the drawings in this process may have beenexaggerated for the clarity of a description and for convenience' sake.Terms to be described below have been defined by taking intoconsideration their functions in the disclosure, and may be changeddepending on a user or operator's intention or practice. Accordingly,such terms should be interpreted based on the overall contents of thisspecification.

An implementation descried in this specification may be implemented inthe form of a method or process, an apparatus, a software program, adata stream or signal, for example. Although a characteristic isdiscussed only in the context of an implementation of a single form(e.g., discussed as only a method), an implementation of the discussedcharacteristic may also be implemented in another form (e.g., a deviceor program). An apparatus may be implemented in a proper hardware,software or firmware form. A method may be implemented in an apparatus,such as a processor that commonly denotes a processing device includinga computer, a microprocessor, an integrated circuit or a programmablelogic device, for example. The processor includes a communicationdevice, such as a computer, a cellular phone, a portable/personaldigital assistant (PDA) and other devices which facilitate thecommunication of information between end users.

FIG. 1 is a block diagram of an apparatus for preventing a vehiclecollision according to an embodiment of the present disclosure. FIG. 2is a diagram conceptually illustrating a V2X communication configurationaccording to an embodiment of the present disclosure. FIG. 3 is adiagram illustrating an example of changes in lanes in a control zoneaccording to an embodiment of the present disclosure.

Referring to FIG. 1 , the apparatus for preventing a vehicle collisionaccording to an embodiment of the present disclosure includes acommunication unit 10, an output unit 20, a sensing unit 30, a travelingcontrol module 40 and a controller 50.

As illustrated in FIG. 2 , the communication unit 10 performs vehicle toeverything (V2X) communication with a surrounding vehicle, for example,a vehicle ahead that is located in front of an ego vehicle, a vehicleahead of a vehicle ahead that is located in front of the vehicle aheador vehicles in neighboring lanes. The neighboring lanes are lanes towhich the ego vehicle may move, and are both lanes neighboring theinside lane of the ego vehicle.

The V2X communication collectively refers to a communication technologythrough a vehicle and all interfaces, and may include a vehicle tovehicle (V2V) type and a vehicle to infrastructure (V2I) type.

Particularly, the communication unit 10 receives information on whethereach of a vehicle ahead and a vehicle ahead of the vehicle ahead ispresent, driving information of each of the vehicle ahead and thevehicle ahead of the vehicle ahead, information on a driving mode ofeach of the vehicle ahead and the vehicle ahead of the vehicle ahead,and information on whether forced braking for the vehicle ahead has beenpermitted, and inputs the information to the controller 50.

The driving mode of each of the vehicle ahead and the vehicle ahead ofthe vehicle ahead may include an autonomous driving mode or manualdriving mode, a steering avoidance mode and an emergency braking modefor the vehicle ahead.

The output unit 20 warns a collision between a vehicle ahead of avehicle ahead and an ego vehicle or displays driving information of avehicle ahead of a vehicle ahead.

The output unit 20 may include a navigation system or cluster within anego vehicle. The output unit 20 is not specifically limited as long asit can warn a collision between a vehicle ahead of a vehicle ahead andan ego vehicle or display information of a vehicle ahead of a vehicleahead.

The sensing unit 30 is installed in an ego vehicle, and senses a vehicleahead, a vehicle ahead of a vehicle ahead, a lane, a road facility, anda pedestrian around the ego vehicle.

The sensing unit 30 may be a camera, a LIDAR sensor, a radar sensor oran infrared sensor, and may be a sensor in which two or more of thecamera, the LIDAR sensor, the radar sensor and the infrared sensor havebeen combined. The sensing unit 30 is not specifically limited as longas it can sense a vehicle ahead, a vehicle ahead of a vehicle ahead, alane, a road facility, and a pedestrian around the ego vehicle.

The traveling control module 40 controls the steering and braking of anego vehicle.

The traveling control module 40 may include all of electrical andmechanical devices provided within an ego vehicle to control thesteering and braking of the ego vehicle.

The traveling control module 40 includes a steering control module 41and a braking control module 42.

The steering control module 41 changes the steering angle of a wheelbased on a steering force (or turning force). The steering controlmodule 41 may include a motor-driven power steering (MDPS) system.

The braking control module 42 controls an ego vehicle to automaticallybrake, regardless of the braking of a driver, when a vehicle ahead of avehicle ahead is detected in front of the ego vehicle.

The braking control module 42 prevents a collision between an egovehicle and a vehicle ahead of a vehicle ahead attributable to amistake, carelessness or slow response speed of a driver, and reducesdamage by reducing a collision speed as much as possible even if acollision cannot be avoided. The braking control module 42 may includean autonomous emergency braking (AEB) system.

The controller 50 performs wireless communication with at least one of avehicle ahead and a vehicle ahead of the vehicle ahead through thecommunication unit 10. In this case, the controller 50 may receive, fromat least one of the vehicle ahead and the vehicle ahead of the vehicleahead, information on whether each of the vehicle ahead and the vehicleahead of the vehicle ahead is present, driving information of each ofthe vehicle ahead and the vehicle ahead of the vehicle ahead,information on a driving mode of each of the vehicle ahead and thevehicle ahead of the vehicle ahead, and information on whether forcedbraking for the vehicle ahead has been permitted.

If it is checked that the vehicle ahead of the vehicle ahead is in astop state, the controller 50 determines whether an ego vehicle maychange to a neighboring lane, through the sensing unit 30 based on theinformation on the driving mode of the vehicle ahead. If a result of thedetermination indicates that the ego vehicle can change the lane to theneighboring lane, the controller 50 controls the traveling controlmodule 40 so that the ego vehicle performs steering avoidance drivingtoward the neighboring lane. If the result of the determinationindicates that the ego vehicle cannot change the lane to the neighboringlane, the controller 50 controls the ego vehicle to urgently brake.Accordingly, the controller 50 prevents a collision between the egovehicle and the vehicle ahead of the vehicle ahead in the stop state.

FIG. 3 illustrates a case where a vehicle ahead of a vehicle ahead, thevehicle ahead and an ego vehicle are placed in the same lane, thevehicle ahead and the ego vehicle change the lane to a neighboring lanewhen the vehicle ahead of the vehicle ahead is in a stop state, and theego vehicle brakes.

More specifically, if the vehicle ahead travels in the autonomousdriving mode and performs steering avoidance driving with respect to thevehicle ahead of the vehicle ahead in the stop state in the state inwhich the vehicle ahead of the vehicle ahead has stopped, the controller50 determines whether the ego vehicle may perform steering avoidancedriving toward the neighboring lane, through the sensing unit 30. If aresult of the determination indicates that the ego vehicle can performsteering avoidance driving toward the neighboring lane, the controller50 controls the ego vehicle to perform steering avoidance driving towardthe neighboring lane. At this time, the controller 50 receives asteering avoidance trajectory of the vehicle ahead from the vehicleahead in real time. The controller 50 prevents a collision between theego vehicle and the vehicle ahead of the vehicle ahead by controllingthe ego vehicle to perform steering avoidance driving toward theneighboring lane while correcting a steering avoidance trajectory of theego vehicle in real time based on the steering avoidance trajectory ofthe vehicle ahead.

In contrast, if the vehicle ahead travels in the autonomous driving modeand urgently brakes in the state in which the vehicle ahead of thevehicle ahead has stopped, the controller 50 determines whether the egovehicle may perform steering avoidance driving toward the neighboringlane, through the sensing unit 30. If a result of the determinationindicates that the ego vehicle cannot perform steering avoidance drivingtoward the neighboring lane, the controller 50 prevents a collisionbetween the ego vehicle and the vehicle ahead of the vehicle ahead bycontrolling the ego vehicle to urgently brake.

Furthermore, if the vehicle ahead does not travel in the autonomousdriving mode, but travels in the manual driving mode in the state inwhich the vehicle ahead of the vehicle ahead has stopped (including botha case where the vehicle ahead has not been equipped with an autonomousdriving system and a case where the vehicle ahead does not travel in theautonomous driving mode although it has been equipped with an autonomousdriving system), the controller 50 determines whether forced controlover the vehicle ahead is possible (including whether control over thevehicle ahead in an emergency situation has been previously approved).If a result of the determination indicates that the forced control overthe vehicle ahead is possible, the controller 50 determines whether thevehicle ahead may perform steering avoidance driving toward theneighboring lane, through the sensing unit 30. If a result of thedetermination indicates that the vehicle ahead can perform steeringavoidance driving toward the neighboring lane, the controller 50transmits a forced steering control command to the vehicle ahead basedon a collision possibility between the vehicle ahead and the vehicleahead of the vehicle ahead. In contrast, if the result of thedetermination indicates that the vehicle ahead cannot perform steeringavoidance driving toward the neighboring lane, the controller 50controls the ego vehicle to urgently brake.

That is, if it is determined through the sensing unit 30 that thevehicle ahead can perform steering avoidance driving toward theneighboring lane in the state in which forced control over the vehicleahead in the manual driving mode is possible, the controller 50transmits a forced steering control command to the vehicle ahead basedon a collision possibility between the vehicle ahead and the vehicleahead of the vehicle ahead, and controls the ego vehicle to performsteering avoidance driving toward the neighboring lane by controllingthe traveling control module 40. If it is determined through the sensingunit 30 that the vehicle ahead cannot perform steering avoidance drivingtoward the neighboring lane in the state in which the forced controlover the vehicle ahead in the manual driving mode has been permitted,the controller 50 prevents a collision between the ego vehicle and thevehicle ahead of the vehicle ahead by controlling the ego vehicle tourgently brake.

In contrast, if it is determined through the sensing unit 30 that thevehicle ahead can perform steering avoidance driving toward theneighboring lane in the state in which the forced control over thevehicle ahead in the manual driving mode is impossible, the controller50 transmits a collision alarm command to the vehicle ahead, andcontrols the ego vehicle to perform steering avoidance driving towardthe neighboring lane. If it is determined through the sensing unit 30that the vehicle ahead cannot perform steering avoidance driving towardthe neighboring lane in the state in which the forced control over thevehicle ahead in the manual driving mode has not been permitted, thecontroller 50 prevents a collision between the ego vehicle and thevehicle ahead of the vehicle ahead by controlling the ego vehicle tourgently brake.

Furthermore, the controller 50 receives driving information of thevehicle ahead of the vehicle ahead through the communication unit 10,and outputs the driving information through the output unit 20 or warnsa collision between the ego vehicle and the vehicle ahead of the vehicleahead.

In this case, whether steering avoidance driving toward a neighboringlane is possible may be determined based on whether a surroundingvehicle is present in the neighboring lane. The steering avoidancedriving may be determined to be possible when a surrounding vehicle isnot present in the neighboring lane, and may be determined to beimpossible when a surrounding vehicle is present in the neighboringlane.

Hereinafter, a method of preventing a vehicle collision according to anembodiment of the present disclosure is described in detail withreference to FIGS. 4A and 4B.

FIG. 4A and FIG. 4B are flowcharts of the method of preventing a vehiclecollision according to an embodiment of the present disclosure.

Referring to FIGS. 4A and 4B, first, the controller 50 checks whether avehicle ahead is present and a vehicle ahead of the vehicle ahead is ina stop state, by performing wireless communication with at least one ofthe vehicle ahead and the vehicle ahead of the vehicle ahead through thecommunication unit 10 (S10). If a result of the check indicates that thevehicle ahead of the vehicle ahead is not in the stop state, thecontroller 50 controls an ego vehicle to travel in a normal driving mode(S52).

In contrast, if the result of the check at step S10 indicates that thevehicle ahead of the vehicle ahead is in the stop state, the controller50 enters a collision avoidance mode (S12).

When entering the collision avoidance mode, the controller 50 determineswhether the vehicle ahead is capable of traveling in an autonomousdriving mode by performing wireless communication with the vehicle aheadthrough the communication unit 10 (S14).

If a result of the determination at step S14 indicates that the vehicleahead can travel in the autonomous driving mode, the vehicle aheadenters the autonomous driving mode (S16), and the controller 50determines whether the vehicle ahead may perform steering avoidancedriving toward a neighboring lane (S18).

At this time, the controller 50 determines that the steering avoidancedriving toward the neighboring lane is possible when a surroundingvehicle is not present in the neighboring lane, and determines that thesteering avoidance driving toward the neighboring lane is impossiblewhen a surrounding vehicle is present in the neighboring lane. In thiscase, the controller 50 may determine whether the vehicle ahead canperform steering avoidance driving toward the neighboring lane, byreceiving corresponding information (i.e., information related to thesteering avoidance driving) of a surrounding vehicle located in theneighboring lane, detected by a sensing unit (not illustrated) providedwithin the vehicle ahead, from the vehicle ahead through thecommunication unit 10 or directly detecting whether the vehicle aheadcan perform steering avoidance driving, through the sensing unit 30.

The vehicle ahead performs the steering avoidance driving toward theneighboring lane because it can perform the steering avoidance driving(S20). At this time, the controller 50 determines whether the egovehicle can perform steering avoidance driving toward the neighboringlane, through the sensing unit 30 (S22).

If a result of the determination at step S22 indicates that the egovehicle can perform the steering avoidance driving toward theneighboring lane, the controller 50 controls the ego vehicle to performthe steering avoidance driving toward the neighboring lane (S24). Atthis time, the controller 50 receives a steering avoidance trajectory ofthe vehicle ahead from the vehicle ahead, and controls the ego vehicleto perform the steering avoidance driving toward the neighboring lanewhile correcting a steering avoidance trajectory of the ego vehicle inreal time based on the steering avoidance trajectory of the vehicleahead.

In contrast, if the result of the determination at step S22 indicatesthat the ego vehicle cannot perform the steering avoidance drivingtoward the neighboring lane, the controller 50 enters an emergencybraking mode and controls the ego vehicle to urgently brake (S26).

If a result of the determination at step S18 indicates that the vehicleahead cannot perform the steering avoidance driving toward theneighboring lane, the vehicle ahead enters the emergency braking modeand urgently brakes (S28).

At this time, the controller 50 determines whether the ego vehicle canperform steering avoidance driving toward a neighboring lane, throughthe sensing unit 30 (S30).

If a result of the determination at step S30 indicates that the egovehicle can perform the steering avoidance driving toward theneighboring lane, the controller 50 controls the ego vehicle to performthe steering avoidance driving toward the neighboring lane (S32).

In contrast, if the result of the determination at step S30 indicatesthat the ego vehicle cannot perform the steering avoidance drivingtoward the neighboring lane, the controller 50 enters the emergencybraking mode and controls the ego vehicle to urgently brake (S34).

If the result of the determination at step S14 indicates that thevehicle ahead cannot travel in the autonomous driving mode, the vehicleahead travels in the manual driving mode (S36). At this time, thecontroller 50 determines whether forced control over the vehicle aheadhas been permitted (including whether control over the vehicle ahead inan emergency situation has been previously approved), by performingwireless communication with the vehicle ahead through the communicationunit 10 (S38).

If as a result of the determination at step S38 indicates that theforced control over the vehicle ahead is possible, the controller 50determines whether the ego vehicle may perform steering avoidancedriving toward a neighboring lane, through the sensing unit 30 (S40).

If as a result of the determination at step S40 indicates that the egovehicle can perform the steering avoidance driving toward theneighboring lane, the controller 50 collects driving information of eachof the vehicle ahead and the vehicle ahead of the vehicle ahead throughwireless communication with the vehicle ahead and the vehicle ahead ofthe vehicle ahead, and detects a collision possibility between thevehicle ahead and the vehicle ahead of the vehicle ahead based on thedriving information.

In this case, based on the collision possibility between the vehicleahead and the vehicle ahead of the vehicle ahead, the controller 50controls the vehicle ahead to perform steering avoidance driving bytransmitting a forced steering control command to the vehicle ahead, andcontrols the ego vehicle to perform the steering avoidance drivingtoward the neighboring lane by controlling the steering control module41 (S42). That is, if the vehicle ahead does not perform steeringavoidance driving up to a collision limit time between the vehicle aheadand the vehicle ahead of the vehicle ahead, the controller 50 transmitsthe forced steering control command to the vehicle ahead so that thevehicle ahead performs forced steering. In this process, the controller50 receives a steering avoidance trajectory of the vehicle ahead fromthe vehicle ahead, and controls the ego vehicle to perform the steeringavoidance driving toward the neighboring lane while correcting asteering avoidance trajectory of the ego vehicle in real time based onthe steering avoidance trajectory of the vehicle ahead.

If the result of the determination at step S40 indicates that the egovehicle cannot perform the steering avoidance driving toward theneighboring lane, the controller 50 controls the ego vehicle to urgentlybrake through the braking control module 42 (S48).

If the result of the determination at step S38 indicates that the forcedcontrol for over the vehicle ahead is impossible, the controller 50determines whether the ego vehicle may perform steering avoidancedriving, through the sensing unit 30 (S44). If a result of thedetermination at step S44 indicates that the ego vehicle can perform thesteering avoidance driving, the controller 50 transmits a collisionalarm command to the vehicle ahead and controls the ego vehicle toperform the steering avoidance driving toward the neighboring lane(S46).

In contrast, if the result of the determination at step S44 indicatesthat the ego vehicle cannot perform the steering avoidance driving, thecontroller 50 enters the emergency braking mode and controls the egovehicle to urgently brake (S50).

In this process, the controller 50 receives driving information of thevehicle ahead of the vehicle ahead through the communication unit 10,and outputs the driving information through the output unit 20 or warnsa collision between the ego vehicle and the vehicle ahead of the vehicleahead.

As described above, the apparatus and method for preventing a vehiclecollision according to an embodiment of the present disclosure prevent acollision between an ego vehicle and a vehicle ahead of a vehicle aheadin a stop state if the vehicle ahead changes lanes in order to avoid acollision in the state in which the vehicle ahead of the vehicle aheadhas stopped.

Although exemplary embodiments of the disclosure have been disclosed forillustrative purposes, those skilled in the art will appreciate thatvarious modifications, additions and substitutions are possible, withoutdeparting from the scope and spirit of the disclosure as defined in theaccompanying claims. Thus, the true technical scope of the disclosureshould be defined by the following claims.

What is claimed is:
 1. An apparatus for preventing a vehicle collision,comprising: a communication unit configured to wirelessly communicatewith a surrounding vehicle; a sensing unit configured to detect thesurrounding vehicle and a lane; a traveling control module configured tocontrol steering or braking of a first vehicle; and a controllerconfigured to: receive information related to the surrounding vehiclethrough the communication unit while driving; determine whether a thirdvehicle is in a stop state based on the information related to thesurrounding vehicle; receive information related to a second vehiclewhen the third vehicle is in a stop state; and control at least one ofthe first vehicle and the second vehicle to perform a steering avoidancedriving toward a neighboring lane or an emergency stop, wherein theinformation related to the second vehicle comprises information on adriving mode of the second vehicle, information on a capability of thesecond vehicle or information on a driving status of the second vehiclewhen the third vehicle is in a stop state based on driving informationon the third vehicle received through the communication unit, andwherein the second vehicle is a vehicle preceding the first vehicle andthe third vehicle is a vehicle preceding the second vehicle.
 2. Theapparatus of claim 1, wherein the driving mode comprises an autonomousdriving mode and a manual driving mode.
 3. The apparatus of claim 2,wherein the information on the capability comprises at least one of:information on whether the steering avoidance driving is possible in theautonomous driving mode; information on whether an emergency braking ispossible in the autonomous driving mode; and information on whether toallow a forced control by other vehicles in the manual driving mode. 4.The apparatus of claim 3, wherein the controller is configured to:determine whether the second vehicle performs the steering avoidancedriving or the emergency braking in the autonomous driving mode based onsensing information sensed by the sensing unit, and control the firstvehicle to perform the steering avoidance driving toward the neighboringlane or the emergency braking based on a determination result.
 5. Theapparatus of claim 4, wherein the controller is configured to: controlthe first vehicle to perform the steering avoidance driving toward theneighboring lane by correcting a steering avoidance trajectory of thefirst vehicle based on a steering avoidance trajectory of the secondvehicle when the first vehicle is capable of performing the steeringavoidance driving toward the neighboring lane based on the sensinginformation received from the sensing unit in a state in which thesecond vehicle performs the steering avoidance driving in the autonomousdriving mode.
 6. The apparatus of claim 4, wherein the controller isconfigured to: control the first vehicle to perform the steeringavoidance driving toward the neighboring lane when the first vehicle iscapable of performing the steering avoidance driving toward theneighboring lane based on the sensing information received from thesensing unit in a state in which the second vehicle performs theemergency braking in the autonomous driving mode, and control the firstvehicle to perform the emergency braking when the first vehicle isincapable of performing the steering avoidance driving toward theneighboring lane based on the sensing information received from thesensing unit in a state in which the second vehicle performs theemergency braking in the autonomous driving mode.
 7. The apparatus ofclaim 5, wherein based on a forced control of the second vehicle beingallowed in the manual driving mode, the controller is configured to:transmit a forced steering control command or a forced emergency brakingcommand to the second vehicle based on whether the first vehicle iscapable of performing the steering avoidance driving and whether acollision between the second vehicle and the third vehicle is possible.8. The apparatus of claim 7, wherein the controller is configured to:control the first vehicle to perform the steering avoidance drivingalong the steering avoidance trajectory of the second vehicle when thesteering avoidance driving of the first vehicle is possible aftertransmitting the forced steering control command, and control the firstvehicle to perform the emergency braking when the steering avoidancedriving of the first vehicle is impossible after transmitting the forcedsteering control command.
 9. The apparatus of claim 7, wherein thecontroller is configured to: transmit the forced steering controlcommand to the second vehicle when the second vehicle does not performthe steering avoidance driving up to a collision limit time between thesecond vehicle and the third vehicle.
 10. The apparatus of claim 2,wherein the controller is configured to: transmit a collision alarmcommand to the second vehicle when the first vehicle is capable ofperforming the steering avoidance driving in a state in which a forcedcontrol over the second vehicle in the manual driving mode isimpossible, and transmit the collision alarm command to the thirdvehicle when the first vehicle is incapable of performing the steeringavoidance driving in a state in which the forced control over the secondvehicle in the manual driving mode is impossible.
 11. A method ofpreventing a vehicle collision in a first vehicle, the methodcomprising: receiving, by a controller, information related to asurrounding vehicle through a wireless communication while driving;determining, by the controller, whether a third vehicle is in a stopstate based on the information related to the surrounding vehicle;receiving, by the controller, information related to a second vehiclewhen the third vehicle is in a stop state; and controlling, by thecontroller, at least one of the first vehicle and the second vehicle toperform a steering avoidance driving toward a neighboring lane or anemergency stop, wherein the information related to the second vehiclecomprises at least one of information on a driving mode of the secondvehicle, information on a capability of the second vehicle andinformation on a driving status of the second vehicle, and wherein thesecond vehicle is a vehicle preceding the first vehicle, and the thirdvehicle is a vehicle preceding the second vehicle.
 12. The method ofclaim 11, wherein the driving mode comprises an autonomous driving modeand a manual driving mode.
 13. The method of claim 12, wherein theinformation on the capability comprises at least one of: information onwhether the steering avoidance driving is possible in the autonomousdriving mode; information on whether an emergency braking is possible inthe autonomous driving mode; and information on whether to allow aforced control by other vehicles in the manual driving mode.
 14. Themethod of claim 12, wherein the controlling of the first vehicle toperform the steering avoidance driving toward the neighboring lane orthe emergency stop comprises: determining, by the controller, whetherthe second vehicle performs the steering avoidance driving or theemergency stop based on sensing information received from a sensing unitof the first vehicle, and controlling, by the controller, the firstvehicle to perform the steering avoidance driving toward the neighboringlane or the emergency stop based on an outcome of the determination. 15.The method of claim 14, wherein the controlling of the first vehicle toperform the steering avoidance driving toward the neighboring lane orthe emergency stop comprises: determining, by the controller, whetherthe first vehicle is capable of performing the steering avoidancedriving toward the neighboring lane based on the sensing information ina state in which the second vehicle performs the steering avoidancedriving in the autonomous driving mode, and controlling, by thecontroller, the first vehicle to perform the steering avoidance drivingtoward the neighboring lane by correcting a steering avoidancetrajectory of the first vehicle based on a steering avoidance trajectoryof the second vehicle when the first vehicle is capable of performingthe steering avoidance driving toward the neighboring lane.
 16. Themethod of claim 14, wherein the controlling of the first vehicle toperform the steering avoidance driving toward the neighboring lane orthe emergency stop comprises: controlling, by the controller, the firstvehicle to perform the steering avoidance driving toward the neighboringlane when the first vehicle is capable of performing the steeringavoidance driving toward the neighboring lane based on the sensinginformation in a state in which the second vehicle performs theemergency braking in the autonomous driving mode, and controlling, bythe controller, the first vehicle to perform the emergency braking whenthe first vehicle is incapable of performing the steering avoidancedriving toward the neighboring lane based on the sensing information ina state in which the second vehicle performs the emergency braking inthe autonomous driving mode.
 17. The method of claim 15, wherein thecontrolling of the second vehicle to perform the steering avoidancedriving toward the neighboring lane or the emergency stop, based on aforced control of the second vehicle being allowed in the manual drivingmode, comprises: transmitting, by the controller, a forced steeringcontrol command or a forced emergency braking command to the secondvehicle based on whether the first vehicle is capable of performing thesteering avoidance driving and whether a collision between the secondvehicle and the third vehicle is possible.
 18. The method of claim 17,wherein the controlling of the first vehicle to perform the steeringavoidance driving toward the neighboring lane or the emergency stop,comprises: controlling, by the controller, the first vehicle to performthe steering avoidance driving along the steering avoidance trajectoryof the second vehicle when the steering avoidance driving of the firstvehicle is possible after transmitting the forced steering controlcommand, and controlling, by the controller, the first vehicle toperform the emergency braking when the steering avoidance driving of thefirst vehicle is impossible after transmitting the forced steeringcontrol command.
 19. The method of claim 17, wherein the controlling ofthe second vehicle to perform the steering avoidance driving toward theneighboring lane or the emergency stop, comprises: transmitting, by thecontroller, the forced steering control command to the second vehiclewhen the second vehicle does not perform the steering avoidance drivingup to a collision limit time between the second vehicle and the thirdvehicle.
 20. An apparatus of a first vehicle for preventing a vehiclecollision, comprising: a wireless network interface configured tocommunicate with a second vehicle to receive second vehicle informationand to communicate with a third vehicle to receive third vehicleinformation, wherein the second vehicle information comprisesinformation on a driving mode of the second vehicle, information on acapability of the second vehicle, or information on a driving status ofthe second vehicle, and wherein the third vehicle information comprisesinformation indicating that the third vehicle is in a stop state; asensor configured to detect vehicles and lanes, including a laneneighboring a lane in which the first vehicle, the second vehicle, andthe third vehicle are in; an autonomous driving system configured tocontrol steering or braking of the first vehicle; and a controllerconfigured to, based on the third vehicle information indicating thatthe third vehicle is in a stop state, control the first vehicle or thesecond vehicle to perform an avoidance action, the avoidance actioncomprising driving toward the neighboring lane or entering an emergencybraking mode, wherein the second vehicle is a vehicle preceding thefirst vehicle and the third vehicle is a vehicle preceding the secondvehicle, wherein the driving mode comprises an autonomous driving modeand a manual driving mode, and wherein the controller is configured to:transmit a collision alarm command to the second vehicle when the firstvehicle is capable of performing the driving toward the neighboring lanein a state in which a forced control over the second vehicle in themanual driving mode is impossible, and transmit the collision alarmcommand to the third vehicle when the first vehicle is incapable ofperforming the driving toward the neighboring lane in a state in whichthe forced control over the second vehicle in the manual driving mode isimpossible.